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<div class="title">point_cloud_color_handlers.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_POINT_CLOUD_COLOR_HANDLERS_IMPL_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_POINT_CLOUD_COLOR_HANDLERS_IMPL_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;set&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/common/colors.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_custom.html#a64c1f536a96250c358ac4e6ed73c5356">   49</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_custom.html#a64c1f536a96250c358ac4e6ed73c5356">pcl::visualization::PointCloudColorHandlerCustom&lt;PointT&gt;::getColor</a> (<a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataArray&gt;</a> &amp;scalars)<span class="keyword"> const</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordflow">if</span> (!capable_ || !cloud_)</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordflow">if</span> (!scalars)</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    scalars = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnsignedCharArray&gt;::New</a> ();</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  scalars-&gt;SetNumberOfComponents (3);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  vtkIdType nr_points = cloud_-&gt;points.size ();</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">reinterpret_cast&lt;</span>vtkUnsignedCharArray*<span class="keyword">&gt;</span>(&amp;(*scalars))-&gt;SetNumberOfTuples (nr_points);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="comment">// Get a random color</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* colors = <span class="keyword">new</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>[nr_points * 3];</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="comment">// Color every point</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordflow">for</span> (vtkIdType cp = 0; cp &lt; nr_points; ++cp)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    colors[cp * 3 + 0] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (r_);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    colors[cp * 3 + 1] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (g_);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    colors[cp * 3 + 2] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (b_);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  }</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keyword">reinterpret_cast&lt;</span>vtkUnsignedCharArray*<span class="keyword">&gt;</span>(&amp;(*scalars))-&gt;SetArray (colors, 3 * nr_points, 0, vtkUnsignedCharArray::VTK_DATA_ARRAY_DELETE);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;}</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_random.html#a52e38d47282d142e129f94c16a011406">   77</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_random.html#a52e38d47282d142e129f94c16a011406">pcl::visualization::PointCloudColorHandlerRandom&lt;PointT&gt;::getColor</a> (<a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataArray&gt;</a> &amp;scalars)<span class="keyword"> const</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordflow">if</span> (!capable_ || !cloud_)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordflow">if</span> (!scalars)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    scalars = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnsignedCharArray&gt;::New</a> ();</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  scalars-&gt;SetNumberOfComponents (3);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  vtkIdType nr_points = cloud_-&gt;points.size ();</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keyword">reinterpret_cast&lt;</span>vtkUnsignedCharArray*<span class="keyword">&gt;</span>(&amp;(*scalars))-&gt;SetNumberOfTuples (nr_points);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="comment">// Get a random color</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* colors = <span class="keyword">new</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>[nr_points * 3];</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordtype">double</span> r, g, b;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  pcl::visualization::getRandomColors (r, g, b);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordtype">int</span> r_ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_lrint (r * 255.0)), </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      g_ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_lrint (g * 255.0)), </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      b_ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_lrint (b * 255.0));</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="comment">// Color every point</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keywordflow">for</span> (vtkIdType cp = 0; cp &lt; nr_points; ++cp)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  {</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    colors[cp * 3 + 0] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (r_);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    colors[cp * 3 + 1] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (g_);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    colors[cp * 3 + 2] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (b_);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="keyword">reinterpret_cast&lt;</span>vtkUnsignedCharArray*<span class="keyword">&gt;</span>(&amp;(*scalars))-&gt;SetArray (colors, 3 * nr_points, 0, vtkUnsignedCharArray::VTK_DATA_ARRAY_DELETE);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;}</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html#afda90e196c558d870e32222ef58628c3">  111</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html#afda90e196c558d870e32222ef58628c3">pcl::visualization::PointCloudColorHandlerRGBField&lt;PointT&gt;::setInputCloud</a> (</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keyword">const</span> PointCloudConstPtr &amp;cloud)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;{</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">PointCloudColorHandler&lt;PointT&gt;::setInputCloud</a> (cloud);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="comment">// Handle the 24-bit packed RGB values</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  field_idx_ = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;rgb&quot;</span>, fields_);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keywordflow">if</span> (field_idx_ != -1)</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    capable_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    field_idx_ = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;rgba&quot;</span>, fields_);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keywordflow">if</span> (field_idx_ != -1)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      capable_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      capable_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;}</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html#a3a12577b02b7a46d5a187473c12fd1fc">  134</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html#a3a12577b02b7a46d5a187473c12fd1fc">pcl::visualization::PointCloudColorHandlerRGBField&lt;PointT&gt;::getColor</a> (<a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataArray&gt;</a> &amp;scalars)<span class="keyword"> const</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keywordflow">if</span> (!capable_ || !cloud_)</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;   <span class="comment">// Get the RGB field index</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  std::vector&lt;pcl::PCLPointField&gt; fields;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keywordtype">int</span> rgba_index = -1;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  rgba_index = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud_, <span class="stringliteral">&quot;rgb&quot;</span>, fields);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keywordflow">if</span> (rgba_index == -1)</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    rgba_index = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud_, <span class="stringliteral">&quot;rgba&quot;</span>, fields);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keywordtype">int</span> rgba_offset = fields[rgba_index].offset;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="keywordflow">if</span> (!scalars)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    scalars = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnsignedCharArray&gt;::New</a> ();</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  scalars-&gt;SetNumberOfComponents (3);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  vtkIdType nr_points = cloud_-&gt;points.size ();</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keyword">reinterpret_cast&lt;</span>vtkUnsignedCharArray*<span class="keyword">&gt;</span>(&amp;(*scalars))-&gt;SetNumberOfTuples (nr_points);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* colors = <span class="keyword">reinterpret_cast&lt;</span>vtkUnsignedCharArray*<span class="keyword">&gt;</span>(&amp;(*scalars))-&gt;GetPointer (0);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <span class="keywordtype">int</span> j = 0;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <span class="comment">// If XYZ present, check if the points are invalid</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="keywordtype">int</span> x_idx = -1;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> d = 0; d &lt; fields_.size (); ++d)</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordflow">if</span> (fields_[d].name == <span class="stringliteral">&quot;x&quot;</span>)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      x_idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (d);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> rgb;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keywordflow">if</span> (x_idx != -1)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  {</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="comment">// Color every point</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordflow">for</span> (vtkIdType cp = 0; cp &lt; nr_points; ++cp)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="comment">// Copy the value at the specified field</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (cloud_-&gt;points[cp].x) ||</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          !pcl_isfinite (cloud_-&gt;points[cp].y) || </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          !pcl_isfinite (cloud_-&gt;points[cp].z))</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      memcpy (&amp;rgb, (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span> *<span class="keyword">&gt;</span> (&amp;cloud_-&gt;points[cp])) + rgba_offset, sizeof (<a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a>));</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      colors[j    ] = rgb.r;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      colors[j + 1] = rgb.g;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      colors[j + 2] = rgb.b;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      j += 3;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    }</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  }</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="comment">// Color every point</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordflow">for</span> (vtkIdType cp = 0; cp &lt; nr_points; ++cp)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      <span class="keywordtype">int</span> idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cp) * 3;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      memcpy (&amp;rgb, (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span> *<span class="keyword">&gt;</span> (&amp;cloud_-&gt;points[cp])) + rgba_offset, sizeof (<a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a>));</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      colors[idx    ] = rgb.r;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      colors[idx + 1] = rgb.g;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      colors[idx + 2] = rgb.b;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  }</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;}</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_h_s_v_field.html#a0583c75b45d6d39ac7e6c603fe21f89c">  199</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_h_s_v_field.html#a0583c75b45d6d39ac7e6c603fe21f89c">pcl::visualization::PointCloudColorHandlerHSVField&lt;PointT&gt;::PointCloudColorHandlerHSVField</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud) : </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  pcl::visualization::<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">PointCloudColorHandler</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;::<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">PointCloudColorHandler</a> (cloud)</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;{</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="comment">// Check for the presence of the &quot;H&quot; field</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#af802304b20568b48ea9da0f203128ff8">field_idx_</a> = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;h&quot;</span>, <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#aba3fc6b22d44f778e126f94550b7f932">fields_</a>);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#af802304b20568b48ea9da0f203128ff8">field_idx_</a> == -1)</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  {</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a667ee20514feb3d83ea205d39a2efe5f">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="comment">// Check for the presence of the &quot;S&quot; field</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_h_s_v_field.html#afe19da10e3058540eb97b752f185810a">s_field_idx_</a> = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;s&quot;</span>, <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#aba3fc6b22d44f778e126f94550b7f932">fields_</a>);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_h_s_v_field.html#afe19da10e3058540eb97b752f185810a">s_field_idx_</a> == -1)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a667ee20514feb3d83ea205d39a2efe5f">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <span class="comment">// Check for the presence of the &quot;V&quot; field</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_h_s_v_field.html#ae341450d12b8eb418b6ef9088dfb45e3">v_field_idx_</a> = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;v&quot;</span>, <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#aba3fc6b22d44f778e126f94550b7f932">fields_</a>);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_h_s_v_field.html#ae341450d12b8eb418b6ef9088dfb45e3">v_field_idx_</a> == -1)</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  {</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a667ee20514feb3d83ea205d39a2efe5f">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a667ee20514feb3d83ea205d39a2efe5f">capable_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;}</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_h_s_v_field.html#a6ff3f3e72f3a6d35c1a77a55946b823b">  230</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_h_s_v_field.html#a6ff3f3e72f3a6d35c1a77a55946b823b">pcl::visualization::PointCloudColorHandlerHSVField&lt;PointT&gt;::getColor</a> (<a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataArray&gt;</a> &amp;scalars)<span class="keyword"> const</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  <span class="keywordflow">if</span> (!capable_ || !cloud_)</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="keywordflow">if</span> (!scalars)</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    scalars = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnsignedCharArray&gt;::New</a> ();</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  scalars-&gt;SetNumberOfComponents (3);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  vtkIdType nr_points = cloud_-&gt;points.size ();</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <span class="keyword">reinterpret_cast&lt;</span>vtkUnsignedCharArray*<span class="keyword">&gt;</span>(&amp;(*scalars))-&gt;SetNumberOfTuples (nr_points);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* colors = <span class="keyword">reinterpret_cast&lt;</span>vtkUnsignedCharArray*<span class="keyword">&gt;</span>(&amp;(*scalars))-&gt;GetPointer (0);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="keywordtype">int</span> idx = 0;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <span class="comment">// If XYZ present, check if the points are invalid</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="keywordtype">int</span> x_idx = -1;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> d = 0; d &lt; fields_.size (); ++d)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="keywordflow">if</span> (fields_[d].name == <span class="stringliteral">&quot;x&quot;</span>)</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      x_idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (d);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  <span class="keywordflow">if</span> (x_idx != -1)</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  {</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="comment">// Color every point</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="keywordflow">for</span> (vtkIdType cp = 0; cp &lt; nr_points; ++cp)</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    {</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <span class="comment">// Copy the value at the specified field</span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (cloud_-&gt;points[cp].x) ||</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;          !pcl_isfinite (cloud_-&gt;points[cp].y) ||</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;          !pcl_isfinite (cloud_-&gt;points[cp].z))</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      <span class="keywordtype">float</span> h = cloud_-&gt;points[cp].h;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="keywordtype">float</span> v = cloud_-&gt;points[cp].v;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      <span class="keywordtype">float</span> s = cloud_-&gt;points[cp].s;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      <span class="comment">// Fill color data with HSV here:</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="comment">// restrict the hue value to [0,360[</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      h = h &lt; 0.0f ? h - (((int)h)/360 - 1)*360 : h - (((<span class="keywordtype">int</span>)h)/360)*360;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      <span class="comment">// restrict s and v to [0,1]</span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      <span class="keywordflow">if</span> (s &gt; 1.0f) s = 1.0f;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      <span class="keywordflow">if</span> (s &lt; 0.0f) s = 0.0f;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keywordflow">if</span> (v &gt; 1.0f) v = 1.0f;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      <span class="keywordflow">if</span> (v &lt; 0.0f) v = 0.0f;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <span class="keywordflow">if</span> (s == 0.0f)</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      {</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        colors[idx] = colors[idx+1] = colors[idx+2] = v*255;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      }</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      {</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        <span class="comment">// calculate p, q, t from HSV-values</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        <span class="keywordtype">float</span> a = h / 60;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        <span class="keywordtype">int</span>   i = floor (a);</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <span class="keywordtype">float</span> f = a - i;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        <span class="keywordtype">float</span> p = v * (1 - s);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        <span class="keywordtype">float</span> q = v * (1 - s * f);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        <span class="keywordtype">float</span> t = v * (1 - s * (1 - f));</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        <span class="keywordflow">switch</span> (i)</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        {</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;          <span class="keywordflow">case</span> 0:</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;            colors[idx] = v*255; colors[idx+1] = t*255; colors[idx+2] = p*255; <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;          <span class="keywordflow">case</span> 1:</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;            colors[idx] = q*255; colors[idx+1] = v*255; colors[idx+2] = p*255; <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;          <span class="keywordflow">case</span> 2:</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;            colors[idx] = p*255; colors[idx+1] = v*255; colors[idx+2] = t*255; <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;          <span class="keywordflow">case</span> 3:</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;            colors[idx] = p*255; colors[idx+1] = q*255; colors[idx+2] = v*255; <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;          <span class="keywordflow">case</span> 4:</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;            colors[idx] = t*255; colors[idx+1] = p*255; colors[idx+2] = v*255; <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;          <span class="keywordflow">case</span> 5:</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;            colors[idx] = v*255; colors[idx+1] = p*255; colors[idx+2] = q*255; <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        }</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      }</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      idx +=3;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    }</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  }</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  {</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="comment">// Color every point</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    <span class="keywordflow">for</span> (vtkIdType cp = 0; cp &lt; nr_points; ++cp)</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    {</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      <span class="keywordtype">float</span> h = cloud_-&gt;points[cp].h;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      <span class="keywordtype">float</span> v = cloud_-&gt;points[cp].v;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      <span class="keywordtype">float</span> s = cloud_-&gt;points[cp].s;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      <span class="comment">// Fill color data with HSV here:</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      <span class="comment">// restrict the hue value to [0,360[</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      h = h &lt; 0.0f ? h - (((int)h)/360 - 1)*360 : h - (((<span class="keywordtype">int</span>)h)/360)*360;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160; </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      <span class="comment">// restrict s and v to [0,1]</span></div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      <span class="keywordflow">if</span> (s &gt; 1.0f) s = 1.0f;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      <span class="keywordflow">if</span> (s &lt; 0.0f) s = 0.0f;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      <span class="keywordflow">if</span> (v &gt; 1.0f) v = 1.0f;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      <span class="keywordflow">if</span> (v &lt; 0.0f) v = 0.0f;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      <span class="keywordflow">if</span> (s == 0.0f)</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      {</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;        colors[idx] = colors[idx+1] = colors[idx+2] = v*255;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      }</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      {</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        <span class="comment">// calculate p, q, t from HSV-values</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        <span class="keywordtype">float</span> a = h / 60;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        <span class="keywordtype">int</span>   i = floor (a);</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;        <span class="keywordtype">float</span> f = a - i;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        <span class="keywordtype">float</span> p = v * (1 - s);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        <span class="keywordtype">float</span> q = v * (1 - s * f);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        <span class="keywordtype">float</span> t = v * (1 - s * (1 - f));</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        <span class="keywordflow">switch</span> (i)</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        {</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;          <span class="keywordflow">case</span> 0:</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;            colors[idx] = v*255; colors[idx+1] = t*255; colors[idx+2] = p*255; <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;          <span class="keywordflow">case</span> 1:</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;            colors[idx] = q*255; colors[idx+1] = v*255; colors[idx+2] = p*255; <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;          <span class="keywordflow">case</span> 2:</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;            colors[idx] = p*255; colors[idx+1] = v*255; colors[idx+2] = t*255; <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;          <span class="keywordflow">case</span> 3:</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;            colors[idx] = p*255; colors[idx+1] = q*255; colors[idx+2] = v*255; <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;          <span class="keywordflow">case</span> 4:</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;            colors[idx] = t*255; colors[idx+1] = p*255; colors[idx+2] = v*255; <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;          <span class="keywordflow">case</span> 5:</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;            colors[idx] = v*255; colors[idx+1] = p*255; colors[idx+2] = q*255; <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        }</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      }</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      idx +=3;</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    }</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  }</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;}</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00368"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_generic_field.html#af6b85dc939cd0eca4f2988c577992252">  368</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_generic_field.html#af6b85dc939cd0eca4f2988c577992252">pcl::visualization::PointCloudColorHandlerGenericField&lt;PointT&gt;::setInputCloud</a> (</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;    <span class="keyword">const</span> PointCloudConstPtr &amp;cloud)</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;{</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a853e39570f293fdc6a683d57d4791632">PointCloudColorHandler&lt;PointT&gt;::setInputCloud</a> (cloud);</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  field_idx_  = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, field_name_, fields_);</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;  <span class="keywordflow">if</span> (field_idx_ != -1)</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    capable_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    capable_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;}</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160; </div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00381"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_generic_field.html#a1410c82d432a6a2c299de11407f85e33">  381</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_generic_field.html#a1410c82d432a6a2c299de11407f85e33">pcl::visualization::PointCloudColorHandlerGenericField&lt;PointT&gt;::getColor</a> (<a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataArray&gt;</a> &amp;scalars)<span class="keyword"> const</span></div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  <span class="keywordflow">if</span> (!capable_ || !cloud_)</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160; </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  <span class="keywordflow">if</span> (!scalars)</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    scalars = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkFloatArray&gt;::New</a> ();</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  scalars-&gt;SetNumberOfComponents (1);</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  vtkIdType nr_points = cloud_-&gt;points.size ();</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  <span class="keyword">reinterpret_cast&lt;</span>vtkFloatArray*<span class="keyword">&gt;</span>(&amp;(*scalars))-&gt;SetNumberOfTuples (nr_points);</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160; </div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList&lt;PointT&gt;::type</a> FieldList;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  <span class="keywordtype">float</span>* colors = <span class="keyword">new</span> <span class="keywordtype">float</span>[nr_points];</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  <span class="keywordtype">float</span> field_data;</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  <span class="keywordtype">int</span> j = 0;</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  <span class="comment">// If XYZ present, check if the points are invalid</span></div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;  <span class="keywordtype">int</span> x_idx = -1;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> d = 0; d &lt; fields_.size (); ++d)</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    <span class="keywordflow">if</span> (fields_[d].name == <span class="stringliteral">&quot;x&quot;</span>)</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      x_idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (d);</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160; </div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  <span class="keywordflow">if</span> (x_idx != -1)</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  {</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    <span class="comment">// Color every point</span></div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    <span class="keywordflow">for</span> (vtkIdType cp = 0; cp &lt; nr_points; ++cp)</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    {</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;      <span class="comment">// Copy the value at the specified field</span></div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (cloud_-&gt;points[cp].x) || !pcl_isfinite (cloud_-&gt;points[cp].y) || !pcl_isfinite (cloud_-&gt;points[cp].z))</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160; </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      <span class="keyword">const</span> uint8_t* pt_data = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>uint8_t*<span class="keyword">&gt;</span> (&amp;cloud_-&gt;points[cp]);</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      memcpy (&amp;field_data, pt_data + fields_[field_idx_].offset, <a class="code" href="group__common.html#ga83ff4ee40cd3c49c7500905f59f37536">pcl::getFieldSize</a> (fields_[field_idx_].datatype));</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160; </div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      colors[j] = field_data;</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;      j++;</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    }</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  }</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  {</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;    <span class="comment">// Color every point</span></div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    <span class="keywordflow">for</span> (vtkIdType cp = 0; cp &lt; nr_points; ++cp)</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    {</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;      <span class="keyword">const</span> uint8_t* pt_data = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>uint8_t*<span class="keyword">&gt;</span> (&amp;cloud_-&gt;points[cp]);</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;      memcpy (&amp;field_data, pt_data + fields_[field_idx_].offset, <a class="code" href="group__common.html#ga83ff4ee40cd3c49c7500905f59f37536">pcl::getFieldSize</a> (fields_[field_idx_].datatype));</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160; </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (field_data))</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160; </div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;      colors[j] = field_data;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;      j++;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    }</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  }</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  <span class="keyword">reinterpret_cast&lt;</span>vtkFloatArray*<span class="keyword">&gt;</span>(&amp;(*scalars))-&gt;SetArray (colors, j, 0, vtkFloatArray::VTK_DATA_ARRAY_DELETE);</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;}</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00442"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_a_field.html#a75726de73f5aaba2c858acd008aa6542">  442</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_a_field.html#a75726de73f5aaba2c858acd008aa6542">pcl::visualization::PointCloudColorHandlerRGBAField&lt;PointT&gt;::setInputCloud</a> (</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;    <span class="keyword">const</span> PointCloudConstPtr &amp;cloud)</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;{</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a853e39570f293fdc6a683d57d4791632">PointCloudColorHandler&lt;PointT&gt;::setInputCloud</a> (cloud);</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  <span class="comment">// Handle the 24-bit packed RGBA values</span></div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  field_idx_ = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;rgba&quot;</span>, fields_);</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  <span class="keywordflow">if</span> (field_idx_ != -1)</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;    capable_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    capable_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;}</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00456"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_a_field.html#a32797102b25404c06d60e44e048d1c12">  456</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_a_field.html#a32797102b25404c06d60e44e048d1c12">pcl::visualization::PointCloudColorHandlerRGBAField&lt;PointT&gt;::getColor</a> (<a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataArray&gt;</a> &amp;scalars)<span class="keyword"> const</span></div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;  <span class="keywordflow">if</span> (!capable_ || !cloud_)</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160; </div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;  <span class="keywordflow">if</span> (!scalars)</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;    scalars = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnsignedCharArray&gt;::New</a> ();</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;  scalars-&gt;SetNumberOfComponents (4);</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160; </div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;  vtkIdType nr_points = cloud_-&gt;points.size ();</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;  <span class="keyword">reinterpret_cast&lt;</span>vtkUnsignedCharArray*<span class="keyword">&gt;</span>(&amp;(*scalars))-&gt;SetNumberOfTuples (nr_points);</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* colors = <span class="keyword">reinterpret_cast&lt;</span>vtkUnsignedCharArray*<span class="keyword">&gt;</span>(&amp;(*scalars))-&gt;GetPointer (0);</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160; </div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;  <span class="keywordtype">int</span> j = 0;</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;  <span class="comment">// If XYZ present, check if the points are invalid</span></div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;  <span class="keywordtype">int</span> x_idx = -1;</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> d = 0; d &lt; fields_.size (); ++d)</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;    <span class="keywordflow">if</span> (fields_[d].name == <span class="stringliteral">&quot;x&quot;</span>)</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;      x_idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (d);</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160; </div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;  <span class="keywordflow">if</span> (x_idx != -1)</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;  {</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;    <span class="comment">// Color every point</span></div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;    <span class="keywordflow">for</span> (vtkIdType cp = 0; cp &lt; nr_points; ++cp)</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    {</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;      <span class="comment">// Copy the value at the specified field</span></div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (cloud_-&gt;points[cp].x) ||</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;          !pcl_isfinite (cloud_-&gt;points[cp].y) ||</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;          !pcl_isfinite (cloud_-&gt;points[cp].z))</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160; </div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;      colors[j    ] = cloud_-&gt;points[cp].r;</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;      colors[j + 1] = cloud_-&gt;points[cp].g;</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;      colors[j + 2] = cloud_-&gt;points[cp].b;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;      colors[j + 3] = cloud_-&gt;points[cp].a;</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;      j += 4;</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;    }</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;  }</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;  {</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;    <span class="comment">// Color every point</span></div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;    <span class="keywordflow">for</span> (vtkIdType cp = 0; cp &lt; nr_points; ++cp)</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;    {</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;      <span class="keywordtype">int</span> idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cp) * 4;</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;      colors[idx    ] = cloud_-&gt;points[cp].r;</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;      colors[idx + 1] = cloud_-&gt;points[cp].g;</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;      colors[idx + 2] = cloud_-&gt;points[cp].b;</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;      colors[idx + 3] = cloud_-&gt;points[cp].a;</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;    }</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;  }</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;}</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160; </div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00511"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_label_field.html#a08ec1abf737572a3ec43f9632ea19fda">  511</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_label_field.html#a08ec1abf737572a3ec43f9632ea19fda">pcl::visualization::PointCloudColorHandlerLabelField&lt;PointT&gt;::setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud)</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;{</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a853e39570f293fdc6a683d57d4791632">PointCloudColorHandler&lt;PointT&gt;::setInputCloud</a> (cloud);</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;  field_idx_ = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;label&quot;</span>, fields_);</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;  <span class="keywordflow">if</span> (field_idx_ != -1)</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;  {</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;    capable_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;  }</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;}</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160; </div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00524"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_label_field.html#a08f97c9f4bff988486942bd223f8b5f0">  524</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_label_field.html#a08f97c9f4bff988486942bd223f8b5f0">pcl::visualization::PointCloudColorHandlerLabelField&lt;PointT&gt;::getColor</a> (<a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataArray&gt;</a> &amp;scalars)<span class="keyword"> const</span></div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;  <span class="keywordflow">if</span> (!capable_ || !cloud_)</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160; </div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;  <span class="keywordflow">if</span> (!scalars)</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;    scalars = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnsignedCharArray&gt;::New</a> ();</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;  scalars-&gt;SetNumberOfComponents (3);</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160; </div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;  vtkIdType nr_points = cloud_-&gt;points.size ();</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;  <span class="keyword">reinterpret_cast&lt;</span>vtkUnsignedCharArray*<span class="keyword">&gt;</span> (&amp;(*scalars))-&gt;SetNumberOfTuples (nr_points);</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* colors = <span class="keyword">reinterpret_cast&lt;</span>vtkUnsignedCharArray*<span class="keyword">&gt;</span> (&amp;(*scalars))-&gt;GetPointer (0);</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160; </div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160; </div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;  std::map&lt;uint32_t, pcl::RGB&gt; colormap;</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;  <span class="keywordflow">if</span> (!static_mapping_)</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;  {</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;    std::set&lt;uint32_t&gt; labels;</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;    <span class="comment">// First pass: find unique labels</span></div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;    <span class="keywordflow">for</span> (vtkIdType i = 0; i &lt; nr_points; ++i)</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      labels.insert (cloud_-&gt;points[i].label);</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160; </div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;    <span class="comment">// Assign Glasbey colors in ascending order of labels</span></div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;    <span class="keywordtype">size_t</span> color = 0;</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;    <span class="keywordflow">for</span> (std::set&lt;uint32_t&gt;::iterator iter = labels.begin (); iter != labels.end (); ++iter, ++color)</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;      colormap[*iter] = <a class="code" href="classpcl_1_1_glasbey_l_u_t.html#a104b41fc57038d01132021afa4a5d699">GlasbeyLUT::at</a> (color % <a class="code" href="classpcl_1_1_glasbey_l_u_t.html#ad892a35624641fbd865ca377af97ef19">GlasbeyLUT::size</a> ());</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;  }</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160; </div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;  <span class="keywordtype">int</span> j = 0;</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;  <span class="keywordflow">for</span> (vtkIdType cp = 0; cp &lt; nr_points; ++cp)</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;  {</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;    <span class="keywordflow">if</span> (pcl::isFinite (cloud_-&gt;points[cp]))</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;    {</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a>&amp; color = static_mapping_ ? <a class="code" href="classpcl_1_1_glasbey_l_u_t.html#a104b41fc57038d01132021afa4a5d699">GlasbeyLUT::at</a> (cloud_-&gt;points[cp].label % <a class="code" href="classpcl_1_1_glasbey_l_u_t.html#ad892a35624641fbd865ca377af97ef19">GlasbeyLUT::size</a> ()) : colormap[cloud_-&gt;points[cp].label];</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;      colors[j    ] = color.r;</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;      colors[j + 1] = color.g;</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;      colors[j + 2] = color.b;</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;      j += 3;</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;    }</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;  }</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160; </div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;}</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160; </div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;<span class="preprocessor">#endif      </span><span class="comment">// PCL_POINT_CLOUD_COLOR_HANDLERS_IMPL_HPP_</span></div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_glasbey_l_u_t_html_a104b41fc57038d01132021afa4a5d699"><div class="ttname"><a href="classpcl_1_1_glasbey_l_u_t.html#a104b41fc57038d01132021afa4a5d699">pcl::GlasbeyLUT::at</a></div><div class="ttdeci">static RGB at(unsigned int color_id)</div></div>
<div class="ttc" id="aclasspcl_1_1_glasbey_l_u_t_html_ad892a35624641fbd865ca377af97ef19"><div class="ttname"><a href="classpcl_1_1_glasbey_l_u_t.html#ad892a35624641fbd865ca377af97ef19">pcl::GlasbeyLUT::size</a></div><div class="ttdeci">static size_t size()</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_custom_html_a64c1f536a96250c358ac4e6ed73c5356"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_custom.html#a64c1f536a96250c358ac4e6ed73c5356">pcl::visualization::PointCloudColorHandlerCustom::getColor</a></div><div class="ttdeci">virtual bool getColor(vtkSmartPointer&lt; vtkDataArray &gt; &amp;scalars) const</div><div class="ttdoc">Obtain the actual color for the input dataset as vtk scalars.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_generic_field_html_a1410c82d432a6a2c299de11407f85e33"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_generic_field.html#a1410c82d432a6a2c299de11407f85e33">pcl::visualization::PointCloudColorHandlerGenericField::getColor</a></div><div class="ttdeci">virtual bool getColor(vtkSmartPointer&lt; vtkDataArray &gt; &amp;scalars) const</div><div class="ttdoc">Obtain the actual color for the input dataset as vtk scalars.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.hpp:381</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_generic_field_html_af6b85dc939cd0eca4f2988c577992252"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_generic_field.html#af6b85dc939cd0eca4f2988c577992252">pcl::visualization::PointCloudColorHandlerGenericField::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Set the input cloud to be used.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.hpp:368</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_h_s_v_field_html_a0583c75b45d6d39ac7e6c603fe21f89c"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_h_s_v_field.html#a0583c75b45d6d39ac7e6c603fe21f89c">pcl::visualization::PointCloudColorHandlerHSVField::PointCloudColorHandlerHSVField</a></div><div class="ttdeci">PointCloudColorHandlerHSVField(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.hpp:199</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_h_s_v_field_html_a6ff3f3e72f3a6d35c1a77a55946b823b"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_h_s_v_field.html#a6ff3f3e72f3a6d35c1a77a55946b823b">pcl::visualization::PointCloudColorHandlerHSVField::getColor</a></div><div class="ttdeci">virtual bool getColor(vtkSmartPointer&lt; vtkDataArray &gt; &amp;scalars) const</div><div class="ttdoc">Obtain the actual color for the input dataset as vtk scalars.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.hpp:230</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_h_s_v_field_html_ae341450d12b8eb418b6ef9088dfb45e3"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_h_s_v_field.html#ae341450d12b8eb418b6ef9088dfb45e3">pcl::visualization::PointCloudColorHandlerHSVField::v_field_idx_</a></div><div class="ttdeci">int v_field_idx_</div><div class="ttdoc">The field index for &quot;V&quot;.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:357</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_h_s_v_field_html_afe19da10e3058540eb97b752f185810a"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_h_s_v_field.html#afe19da10e3058540eb97b752f185810a">pcl::visualization::PointCloudColorHandlerHSVField::s_field_idx_</a></div><div class="ttdeci">int s_field_idx_</div><div class="ttdoc">The field index for &quot;S&quot;.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:354</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_html"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">pcl::visualization::PointCloudColorHandler</a></div><div class="ttdoc">Base Handler class for PointCloud colors.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_html_a667ee20514feb3d83ea205d39a2efe5f"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a667ee20514feb3d83ea205d39a2efe5f">pcl::visualization::PointCloudColorHandler::capable_</a></div><div class="ttdeci">bool capable_</div><div class="ttdoc">True if this handler is capable of handling the input data, false otherwise.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_html_a853e39570f293fdc6a683d57d4791632"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a853e39570f293fdc6a683d57d4791632">pcl::visualization::PointCloudColorHandler::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Set the input cloud to be used.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:111</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_html_aba3fc6b22d44f778e126f94550b7f932"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#aba3fc6b22d44f778e126f94550b7f932">pcl::visualization::PointCloudColorHandler::fields_</a></div><div class="ttdeci">std::vector&lt; pcl::PCLPointField &gt; fields_</div><div class="ttdoc">The list of fields available for this PointCloud.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_html_af802304b20568b48ea9da0f203128ff8"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#af802304b20568b48ea9da0f203128ff8">pcl::visualization::PointCloudColorHandler::field_idx_</a></div><div class="ttdeci">int field_idx_</div><div class="ttdoc">The index of the field holding the data that represents the color.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_label_field_html_a08ec1abf737572a3ec43f9632ea19fda"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_label_field.html#a08ec1abf737572a3ec43f9632ea19fda">pcl::visualization::PointCloudColorHandlerLabelField::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Set the input cloud to be used.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.hpp:511</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_label_field_html_a08f97c9f4bff988486942bd223f8b5f0"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_label_field.html#a08f97c9f4bff988486942bd223f8b5f0">pcl::visualization::PointCloudColorHandlerLabelField::getColor</a></div><div class="ttdeci">virtual bool getColor(vtkSmartPointer&lt; vtkDataArray &gt; &amp;scalars) const</div><div class="ttdoc">Obtain the actual color for the input dataset as vtk scalars.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.hpp:524</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_a_field_html_a32797102b25404c06d60e44e048d1c12"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_a_field.html#a32797102b25404c06d60e44e048d1c12">pcl::visualization::PointCloudColorHandlerRGBAField::getColor</a></div><div class="ttdeci">virtual bool getColor(vtkSmartPointer&lt; vtkDataArray &gt; &amp;scalars) const</div><div class="ttdoc">Obtain the actual color for the input dataset as vtk scalars.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.hpp:456</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_a_field_html_a75726de73f5aaba2c858acd008aa6542"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_a_field.html#a75726de73f5aaba2c858acd008aa6542">pcl::visualization::PointCloudColorHandlerRGBAField::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Set the input cloud to be used.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.hpp:442</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field_html_a3a12577b02b7a46d5a187473c12fd1fc"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html#a3a12577b02b7a46d5a187473c12fd1fc">pcl::visualization::PointCloudColorHandlerRGBField::getColor</a></div><div class="ttdeci">virtual bool getColor(vtkSmartPointer&lt; vtkDataArray &gt; &amp;scalars) const</div><div class="ttdoc">Obtain the actual color for the input dataset as vtk scalars.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.hpp:134</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field_html_afda90e196c558d870e32222ef58628c3"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html#afda90e196c558d870e32222ef58628c3">pcl::visualization::PointCloudColorHandlerRGBField::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Set the input cloud to be used.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.hpp:111</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_random_html_a52e38d47282d142e129f94c16a011406"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_random.html#a52e38d47282d142e129f94c16a011406">pcl::visualization::PointCloudColorHandlerRandom::getColor</a></div><div class="ttdeci">virtual bool getColor(vtkSmartPointer&lt; vtkDataArray &gt; &amp;scalars) const</div><div class="ttdoc">Obtain the actual color for the input dataset as vtk scalars.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.hpp:77</div></div>
<div class="ttc" id="aclassvtk_smart_pointer_html"><div class="ttname"><a href="classvtk_smart_pointer.html">vtkSmartPointer</a></div><div class="ttdef"><b>Definition:</b> actor_map.h:50</div></div>
<div class="ttc" id="agroup__common_html_ga2bc4b9a4e25de1d0b00db4e41f0ad682"><div class="ttname"><a href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a></div><div class="ttdeci">int getFieldIndex(const pcl::PCLPointCloud2 &amp;cloud, const std::string &amp;field_name)</div><div class="ttdoc">Get the index of a specified field (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.h:59</div></div>
<div class="ttc" id="agroup__common_html_ga83ff4ee40cd3c49c7500905f59f37536"><div class="ttname"><a href="group__common.html#ga83ff4ee40cd3c49c7500905f59f37536">pcl::getFieldSize</a></div><div class="ttdeci">int getFieldSize(const int datatype)</div><div class="ttdoc">Obtains the size of a specific field data type in bytes</div><div class="ttdef"><b>Definition:</b> io.h:128</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_r_g_b.html">pcl::RGB</a></div><div class="ttdoc">A structure representing RGB color information.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:334</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1field_list_html"><div class="ttname"><a href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:177</div></div>
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